GVU Technical Report Number:
GIT-GVU-00-22
Title:
Methods for Motion Generation and Interaction with a Humanoid Robot:
Case Studies of Dancing and Catching
Authors:
M. Riley
A. Ude
C.G. Atkeson
Abstract:
We focus on creating realistic, adaptable movement for humanoid robots
and virtual characters. Here we present motion synthesis of dance
movements for a humanoid robot, and interactive behavior for catching.
Our approach to motion generation includes collection of example human
movements, handling of marker occlusion, extraction of motion
parameters, and trajectory generation, all of which must be handled in
such a way as to be faithful to the style of the original movements. In our
interactive behavior, we generate ball-glove impact predictions and
intercept motion trajectories for a real time catching task. In this
paper we present our results and discuss ideas for future improvements.
Keywords:
Humanoid robot, robot dance, robot interaction
You can access this technical report via:
PDF
Postscript
|
